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pierre-rouanetpierre-rouanet
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Follow clippy's advice.
1 parent f2365a3 commit 00f4b97

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4 files changed

+30
-26
lines changed

4 files changed

+30
-26
lines changed

‎src/dynamixel_protocol/v1.rs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@ impl InstructionPacket<PacketV1> for InstructionPacketV1 {
118118

119119
let payload_length: u8 = (self.params.len() + 2).try_into().unwrap();
120120

121-
bytes.extend(vec![255, 255, self.id, payload_length].iter());
121+
bytes.extend([255, 255, self.id, payload_length].iter());
122122
bytes.push(self.instruction.value());
123123
bytes.extend(self.params.iter());
124124
bytes.push(crc(&bytes[2..]));

‎src/servo/dynamixel/xl330.rs‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -85,7 +85,6 @@ pub mod conv {
8585
///
8686
/// Works in joint and multi-turn mode
8787
/// 2048->180° is the center position with 0.088 [deg/pulse]
88-
8988
pub fn dxl_pos_to_radians(pos: i32) -> f32 {
9089
(2.0 * PI * (pos as f32) / 4096.0) - PI
9190
}

‎src/servo/feetech/sts3215.rs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -74,7 +74,7 @@ pub mod conv {
7474
value = -(value - ((1 << 15) as f64));
7575
}
7676

77-
(2.0 * PI * value as f64) / (4096.0 - 1.0)
77+
(2.0 * PI * value) / (4096.0 - 1.0)
7878

7979
// value // * 0.111
8080
}

‎src/servo/servo_macro.rs‎

Lines changed: 28 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -5,10 +5,15 @@ macro_rules! generate_servo {
55
) => {
66
paste::paste! {
77
pub struct [<$servo_name Controller>] {
8-
dph: Option<crate::DynamixelProtocolHandler>,
8+
dph: Option<$crate::DynamixelProtocolHandler>,
99
serial_port: Option<Box<dyn serialport::SerialPort>>,
1010
}
1111

12+
impl Default for [<$servo_name Controller>] {
13+
fn default() -> Self {
14+
Self::new()
15+
}
16+
}
1217

1318
impl [<$servo_name Controller>] {
1419
pub fn new() -> Self {
@@ -25,10 +30,10 @@ macro_rules! generate_servo {
2530
}
2631
}
2732

28-
crate::generate_protocol_constructor!($servo_name, $protocol);
33+
$crate::generate_protocol_constructor!($servo_name, $protocol);
2934

3035
$(
31-
crate::generate_reg_access!($servo_name, $reg_name, $reg_access, $reg_addr, $reg_type);
36+
$crate::generate_reg_access!($servo_name, $reg_name, $reg_access, $reg_addr, $reg_type);
3237
)*
3338
};
3439
}
@@ -42,7 +47,7 @@ macro_rules! generate_protocol_constructor {
4247
self,
4348
) -> Self {
4449
Self {
45-
dph: Some(crate::DynamixelProtocolHandler::v1()),
50+
dph: Some($crate::DynamixelProtocolHandler::v1()),
4651
..self
4752
}
4853
}
@@ -56,7 +61,7 @@ macro_rules! generate_protocol_constructor {
5661
self,
5762
) -> Self {
5863
Self {
59-
dph: Some(crate::DynamixelProtocolHandler::v2()),
64+
dph: Some($crate::DynamixelProtocolHandler::v2()),
6065
..self
6166
}
6267
}
@@ -68,14 +73,14 @@ macro_rules! generate_protocol_constructor {
6873
#[macro_export]
6974
macro_rules! generate_reg_access {
7075
($servo_name:ident, $reg_name:ident, r, $reg_addr:expr, $reg_type:ty) => {
71-
crate::generate_reg_read!($servo_name, $reg_name, $reg_addr, $reg_type);
76+
$crate::generate_reg_read!($servo_name, $reg_name, $reg_addr, $reg_type);
7277
};
7378
($servo_name:ident, $reg_name:ident, w, $reg_addr:expr, $reg_type:ty) => {
74-
crate::generate_reg_write!($servo_name, $reg_name, $reg_addr, $reg_type);
79+
$crate::generate_reg_write!($servo_name, $reg_name, $reg_addr, $reg_type);
7580
};
7681
($servo_name:ident, $reg_name:ident, rw, $reg_addr:expr, $reg_type:ty) => {
77-
crate::generate_reg_read!($servo_name, $reg_name, $reg_addr, $reg_type);
78-
crate::generate_reg_write!($servo_name, $reg_name, $reg_addr, $reg_type);
82+
$crate::generate_reg_read!($servo_name, $reg_name, $reg_addr, $reg_type);
83+
$crate::generate_reg_write!($servo_name, $reg_name, $reg_addr, $reg_type);
7984
};
8085
}
8186
#[macro_export]
@@ -84,10 +89,10 @@ macro_rules! generate_reg_read {
8489
paste::paste! {
8590
#[doc = concat!("Read register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
8691
pub fn [<read_ $reg_name>](
87-
io: &crate::DynamixelProtocolHandler,
92+
io: &$crate::DynamixelProtocolHandler,
8893
serial_port: &mut dyn serialport::SerialPort,
8994
id: u8,
90-
) -> crate::Result<$reg_type> {
95+
) -> $crate::Result<$reg_type> {
9196
let val = io.read(serial_port, id, $reg_addr, size_of::<$reg_type>().try_into().unwrap())?;
9297
let val = $reg_type::from_le_bytes(val.try_into().unwrap());
9398

@@ -96,10 +101,10 @@ macro_rules! generate_reg_read {
96101

97102
#[doc = concat!("Sync read register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
98103
pub fn [<sync_read_ $reg_name>](
99-
io: &crate::DynamixelProtocolHandler,
104+
io: &$crate::DynamixelProtocolHandler,
100105
serial_port: &mut dyn serialport::SerialPort,
101106
ids: &[u8],
102-
) -> crate::Result<Vec<$reg_type>> {
107+
) -> $crate::Result<Vec<$reg_type>> {
103108
let val: Vec<Vec<u8>> = io.sync_read(serial_port, ids, $reg_addr, size_of::<$reg_type>().try_into().unwrap())?;
104109
let val = val
105110
.iter()
@@ -114,7 +119,7 @@ macro_rules! generate_reg_read {
114119
pub fn [<read_ $reg_name>](
115120
&mut self,
116121
ids: &[u8],
117-
) -> crate::Result<Vec<$reg_type>> {
122+
) -> $crate::Result<Vec<$reg_type>> {
118123
[<sync_read_ $reg_name>](
119124
self.dph.as_ref().unwrap(),
120125
self.serial_port.as_mut().unwrap().as_mut(),
@@ -132,21 +137,21 @@ macro_rules! generate_reg_write {
132137
paste::paste! {
133138
#[doc = concat!("Write register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
134139
pub fn [<write_ $reg_name>](
135-
io: &crate::DynamixelProtocolHandler,
140+
io: &$crate::DynamixelProtocolHandler,
136141
serial_port: &mut dyn serialport::SerialPort,
137142
id: u8,
138143
val: $reg_type,
139-
) -> crate::Result<()> {
144+
) -> $crate::Result<()> {
140145
io.write(serial_port, id, $reg_addr, &val.to_le_bytes())
141146
}
142147

143148
#[doc = concat!("Sync write register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
144149
pub fn [<sync_write_ $reg_name>](
145-
io: &crate::DynamixelProtocolHandler,
150+
io: &$crate::DynamixelProtocolHandler,
146151
serial_port: &mut dyn serialport::SerialPort,
147152
ids: &[u8],
148153
values: &[$reg_type],
149-
) -> crate::Result<()> {
154+
) -> $crate::Result<()> {
150155
io.sync_write(
151156
serial_port,
152157
ids,
@@ -164,7 +169,7 @@ macro_rules! generate_reg_write {
164169
&mut self,
165170
ids: &[u8],
166171
values: &[$reg_type],
167-
) -> crate::Result<()> {
172+
) -> $crate::Result<()> {
168173
[<sync_write_ $reg_name>](
169174
self.dph.as_ref().unwrap(),
170175
self.serial_port.as_mut().unwrap().as_mut(),
@@ -186,23 +191,23 @@ macro_rules! generate_reg_write_fb {
186191
paste::paste! {
187192
#[doc = concat!("Write register with fb *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
188193
pub fn [<write_ $name _fb>](
189-
dph: &crate::DynamixelProtocolHandler,
194+
dph: &$crate::DynamixelProtocolHandler,
190195
serial_port: &mut dyn serialport::SerialPort,
191196
id: u8,
192197
val: $reg_type,
193-
) -> crate::Result<$fb_type> {
198+
) -> $crate::Result<$fb_type> {
194199
let fb = dph.write_fb(serial_port, id, $addr, &val.to_le_bytes())?;
195200
let fb = $fb_type::from_le_bytes(fb.try_into().unwrap());
196201
Ok(fb)
197202
}
198203

199204
#[doc = concat!("Sync write register *", stringify!($name), "* (addr: ", stringify!($addr), ", type: ", stringify!($reg_type), ")")]
200205
pub fn [<sync_write_ $name _fb>](
201-
dph: &crate::DynamixelProtocolHandler,
206+
dph: &$crate::DynamixelProtocolHandler,
202207
serial_port: &mut dyn serialport::SerialPort,
203208
ids: &[u8],
204209
values: &[$reg_type],
205-
) -> crate::Result<()> {
210+
) -> $crate::Result<()> {
206211
dph.sync_write(
207212
serial_port,
208213
ids,

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